Finally the mobile manipulator with the new arm came into our lab. Nevertheless we consumed a lot of time in solving basic control issues because, unfortuantely, the robot did not satisfied our requirements. We suppose that, due to the deadline, our provider did not test it sufficiently. Anyway we think that fundamental issues regarding robot control and functioning have been solved so that the project can be speeded up in order to reach the missing deadlines as soon as possible. Few communication problems still exist.